@Article{Galvez12tro,
  author        = {Dorian G\'alvez-L\'opez and J. D. Tard\'os},
  title         = {Bags of Binary Words for Fast Place Recognition in Image
                  Sequences},
  journal       = {{IEEE} Trans. Robot.},
  year          = 2012,
  volume        = 28,
  number        = 5,
  pages         = {1188--1197},
  month         = oct,
  doi           = {10.1109/TRO.2012.2197158}
}
